Hey HugeRobot, if you're looking for some help with Unity I'd love to help. I imagine you might be able to base your work in Unity off of what VRTK has already done. They have a climbing system, full interaction as well as locomotion but it's not as smooth as yours. Their work is open source on GitHub if you want to check it out.
Either way, I've never written a locomotion system myself, but would love to contribute or at least help with Unity if you need it.